From 1d2d03dbbcc8ba01029514ec5b2e39646c180c15 Mon Sep 17 00:00:00 2001
From: lsh <lsh@163.com>
Date: 星期五, 13 六月 2025 09:20:09 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 80 ++++++++++++++++++++++++++++++----------
1 files changed, 60 insertions(+), 20 deletions(-)
diff --git a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
index b477145..5a437a4 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -1770,6 +1770,8 @@
}
}
+
+
if (!sign && staList.size()>1) {
for (Integer staNoNow : rangeList) {
for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
@@ -1791,7 +1793,34 @@
break;
}
}
+ }else if (!sign && staList.size()==1){
+ BasDevpPosition basDevpPosition1 = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", staList.get(0)));
+ if (Math.abs(basDevpPosition1.getPlcPosition()- rgvProtocol.getRgvPos())<rgvProtocol.getCarBodyJiaoMing()+rgvProtocol.getCarBodyKunPeng() + avoidDistance*2){
+ for (Integer staNoNow : rangeList) {
+ for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
+ if (rgvStn.getStaNo().equals(staNoNow)) {
+ TaskWrk taskWrk = deviceDetection(rgvStn);
+ if (taskWrk != null) {
+ BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint())));
+ if (RouteUtils.CheckIfItIsWithinTheRange(rangeList, basDevpPosition.getPlcPosition(), basDevpPositions, itSmall)) {
+ System.out.println("绛涢�夊崐杈硅寖鍥村唴浠诲姟==="+rgvSlave.getId()+"==="+taskWrk);
+ System.out.println("绛涢�夊崐杈硅寖鍥村唴浠诲姟==="+rgvSlave.getId()+"==="+JSON.toJSONString(belongToRange));
+
+ sign = taskGenerate(rgvSlave, rgvStn, 0);
+ }
+ }
+ break;
+ }
+ }
+ if (sign) {
+ break;
+ }
+ }
+ }
}
+
+
+
if (!sign && staList.size()>1) {
// 鍗婅竟鍖哄煙鍐呭彇璐т换鍔�
for (Integer staNoNow : rangeList) {
@@ -1818,26 +1847,37 @@
}
}
}
-// if (!sign) {
-// // 鍗婅竟鍖哄煙鍐呮斁璐т换鍔�
-// for (Integer staNoNow : rangeListOther) {
-// for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
-// if (rgvStn.getStaNo().equals(staNoNow)) {
-// TaskWrk taskWrk = deviceDetection(rgvStn);
-// if (taskWrk != null) {
-// BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint())));
-// if (RouteUtils.CheckIfItIsWithinTheRange(rangeList, basDevpPosition.getPlcPosition(), basDevpPositions, itSmall)) {
-// sign = taskGenerate(rgvSlave, rgvStn, 0);
-// }
-// }
-// break;
-// }
-// }
-// if (sign) {
-// break;
-// }
-// }
-// }
+
+ if (!sign) {
+ // 鍗婅竟鍖哄煙鍐呮斁璐т换鍔�
+ for (Integer staNoNow : rangeListOther) {
+ for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
+ if (rgvStn.getStaNo().equals(staNoNow)) {
+ TaskWrk taskWrk = deviceDetection(rgvStn);
+ if (taskWrk != null) {
+ Integer outStaNo = BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint());
+ for (RgvSlave.RgvStn rgvSuper : rgvSlave.getRgvSuperSta()){
+ if (rgvSuper.getStaNo().equals(outStaNo)){
+ System.out.println("鍥犳渶杩滄墽琛屽崐杈瑰尯鍩熷唴鏀捐揣浠诲姟==="+rgvSlave.getId()+"===");
+ BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint())));
+ if (RouteUtils.CheckIfItIsWithinTheRange(rangeList, basDevpPosition.getPlcPosition(), basDevpPositions, itSmall)) {
+ sign = taskGenerate(rgvSlave, rgvStn, 0);
+ }
+ break;
+ }
+ }
+ }
+ break;
+ }
+ if (sign) {
+ break;
+ }
+ }
+ if (sign) {
+ break;
+ }
+ }
+ }
} else {
//鍙敤鍖哄煙灏辫繎鍙栬揣
//灏辫繎鎺掑簭
--
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